• Title/Summary/Keyword: 원격 취급

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Visualization of Virtual Slave Manipulator Using the Master Input Device (주 입력장치를 이용한 가상 슬레이브 매니퓰레이터의 시각화)

  • 김성현;송태길;이종열;윤지섭
    • Proceedings of the Korean Radioactive Waste Society Conference
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    • 2003.11a
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    • pp.388-394
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    • 2003

  • To handle the high level radioactive materials such a spent fuel, the master-slave manipulators (MSM) are widely used as a remote handling device in nuclear facilities such as the hot cell with sealed and shielded space. In this paper, the Digital Mockup which simulates the remote operation of the Advanced Conditioning Process(ACP) is developed. Also, the workspace and the motion of the slave manipulator, as well as, the remote operation task should be analyzed. The process equipment of ACP and Maintenance/Handling Device are drawn in 3D CAD models using IGRIP. Modeling device of manipulator is assigned with various mobile attributes such as a relative position, kinematics constraints, and a range of mobility, The 3D graphic simulator using the external input device of space ball displays the movement of manipulator. To connect the external input device to the graphic simulator, the interface program of external input device with 6 DOF is deigned using the Low Level Tele-operation Interface(LLTI). The experimental result shows that the developed simulation system gives much-improved human interface characteristics and shows satisfactory response characteristics in terms of synchronization speed. This should be useful for the development of work's education system in the virtual environment.

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Visualization and Workspace Analysis of Manipulator using the Input Device in Virtual Environment (가상 환경에서 입력장치를 이용한 매니퓰레이터의 작업영역 분석 및 시각화)

  • Kim Sung Hyun;Song Tae Gil;Yoon Ji Sup;Lee Geuk
    • Journal of Digital Contents Society
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    • v.5 no.1
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    • pp.22-27
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    • 2004

  • To handle the high level radioactive materials such a spent fuel, the master-slave manipulaters (MSM) are wide1y used as a remote handling device in nuclear facilities such as the hot cell with sealed and shielded space. In this paper, the Digital Mockup which simulates the remote operation of the Advanced Conditioning Process(ACP) is developed. Also, the workspace and the motion of the slave manipulator, as well as, the remote operation task should be analyzed. The process equipment of ACP and Maintenance/Handling Device are drawn in 3D CAD model using IGRIP. Modeling device of manipulator is assigned with various mobile attributes such as a relative position, kinematics constraints, and a range of mobility. The 3D graphic simulator using the extermal input device of spare ball displays the movement of manipulator. To connect the exterral input device to the graphic simulator, the interface program of external input device with 6 DOF is deigned using the Low Level Tele-operation Interface(LLTI). The experimental result show that the developed simulation system gives much-improved human interface characteristics and shows satisfactory reponse characteristics in terms of synchronization speed. This should be useful for the development of work`s education system in the environment.

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Development of a Tele-operating Multi-Link Robot for Pipe Inspection (배관검사용 원격제어 다관절 로봇 개발)

  • Choi, You-Rak;Lee, Jae-Cheol;Chio, Young-Su;Kim, Jae-Hee;Lee, Nam-Ho
    • Proceedings of the Korean Society of Computer Information Conference
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    • 2014.07a
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    • pp.245-248
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    • 2014

  • 산업플랜트에는 고온 고압 배관 시스템을 갖춘 곳이 많으며, 이 배관 시스템의 건전성은 매우 중요하게 취급된다. 배관의 건전성 유지를 위해서는 일정 기간 동안 배관의 안정성 검사를 수행하게 되는데, 배관 시스템의 복잡성과 위험성으로 인한 검사자의 접근 자체가 매우 어려운 상황이 빈번하게 발생한다. 이를 해결하기 위하여 로봇 개술을 적용하는 연구개발이 지속되고 있는데 본 논문에서는 5축 대관절 매니퓰레이터 형태의 배관 등반이 가능한 반자동 원격 제어 로봇의 개발에 대하여 기술한다. 이 로봇의 구현을 위해서는 로봇의 배관 인지 기술, 로봇의 배관 그리핑 기술, 5축 관절의 제어 기술, 그리고 원격제어기술등이 요구된다.

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Analysis of Transportation and Handling System of Advanced Spent Fuel Management Process Using Graphic Simulator (그래픽 전산모사를 이용한 차세대관리공정 원격운반취급 분석)

  • 홍동희;윤지섭;김성현;송태길;진재현
    • Proceedings of the Korean Radioactive Waste Society Conference
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    • 2003.11a
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    • pp.431-437
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    • 2003

  • The graphic simulator has been used to analyze the problems that can occur during transporting and handling radioactive materials, and to derive necessary devices that can transport and handle spent fuel powder without scattering in a hot cell. The graphic simulator has advantages over the real scale physical mockup with respect to cost and schedule. The process equipment and maintenance devices can be verified in advance with less cost and reduced schedule. The derived results are being reflected in the design of equipment for demonstration and are being verified during demonstration.

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